\section{Conclusions}
\label{sec:conclude}

Early results indicate that the combination of an orienteering solver
and a refinement search planner can be effective in enabling an AUV to
tractably handle over-subscribed planning problems on-line. Moreover,
cost estimation using graph-based path planning techniques can be
applied to solve both the abstracted orienteering problem and the
subsequent plan refinement algorithm for goal insertion. The algorithms
proposed in this paper have not yet been subjected to rigorous empirical
study to understand in more detail how well they scale in theory or in
practice, or to compare their performance against other comparable
techniques. Finally, we are seeking to apply these methods to missions
of scientific interest in the context of unstructured ocean exploration.
